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<a href="#nested-classes">Data Structures</a> &#124;
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<div class="title">CO_PDO.h File Reference<div class="ingroups"><a class="el" href="group__CO__CANopen__301.html">CANopen_301</a> &raquo; <a class="el" href="group__CO__PDO.html">PDO</a></div></div>  </div>
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<p>CANopen Process Data Object protocol.  
<a href="#details">More...</a></p>
<div class="textblock"><code>#include &quot;<a class="el" href="CO__driver_8h_source.html">301/CO_driver.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="CO__SDOserver_8h_source.html">301/CO_SDOserver.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="CO__Emergency_8h_source.html">301/CO_Emergency.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="CO__NMT__Heartbeat_8h_source.html">301/CO_NMT_Heartbeat.h</a>&quot;</code><br />
<code>#include &quot;<a class="el" href="CO__SYNC_8h_source.html">301/CO_SYNC.h</a>&quot;</code><br />
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<p><a href="CO__PDO_8h_source.html">Go to the source code of this file.</a></p>
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Data Structures</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDOCommPar__t.html">CO_RPDOCommPar_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">RPDO communication parameter.  <a href="structCO__RPDOCommPar__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDOMapPar__t.html">CO_RPDOMapPar_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">RPDO mapping parameter.  <a href="structCO__RPDOMapPar__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDOCommPar__t.html">CO_TPDOCommPar_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">TPDO communication parameter.  <a href="structCO__TPDOCommPar__t.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDOMapPar__t.html">CO_TPDOMapPar_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">TPDO mapping parameter.  <a href="structCO__TPDOMapPar__t.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">RPDO object.  <a href="structCO__RPDO__t.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">TPDO object.  <a href="structCO__TPDO__t.html#details">More...</a><br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga92c484ada2ad240c1b8c891c88d56901"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga92c484ada2ad240c1b8c891c88d56901">CO_RPDO_init</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, <a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, CO_SDO_t *SDO, <a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> *SYNC, <a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *operatingState, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> defaultCOB_ID, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> restrictionFlags, const <a class="el" href="structCO__RPDOCommPar__t.html">CO_RPDOCommPar_t</a> *RPDOCommPar, const <a class="el" href="structCO__RPDOMapPar__t.html">CO_RPDOMapPar_t</a> *RPDOMapPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_RPDOCommPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_RPDOMapPar, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevRx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevRxIdx)</td></tr>
<tr class="memdesc:ga92c484ada2ad240c1b8c891c88d56901"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize RPDO object.  <a href="group__CO__PDO.html#ga92c484ada2ad240c1b8c891c88d56901">More...</a><br /></td></tr>
<tr class="separator:ga92c484ada2ad240c1b8c891c88d56901"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga34532746ccf88ccfa835716e89369478"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga34532746ccf88ccfa835716e89369478">CO_RPDO_initCallbackPre</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, void *object, void(*pFunctSignalPre)(void *object))</td></tr>
<tr class="memdesc:ga34532746ccf88ccfa835716e89369478"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize RPDO callback function.  <a href="group__CO__PDO.html#ga34532746ccf88ccfa835716e89369478">More...</a><br /></td></tr>
<tr class="separator:ga34532746ccf88ccfa835716e89369478"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8fb100744dc91f84b236c55ee37200a1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga8fb100744dc91f84b236c55ee37200a1">CO_TPDO_init</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO, <a class="el" href="structCO__EM__t.html">CO_EM_t</a> *em, CO_SDO_t *SDO, <a class="el" href="structCO__SYNC__t.html">CO_SYNC_t</a> *SYNC, <a class="el" href="group__CO__NMT__Heartbeat.html#ga1e8c2a6c0fd4a33183503d25a7c6d744">CO_NMT_internalState_t</a> *operatingState, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> nodeId, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> defaultCOB_ID, <a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a> restrictionFlags, const <a class="el" href="structCO__TPDOCommPar__t.html">CO_TPDOCommPar_t</a> *TPDOCommPar, const <a class="el" href="structCO__TPDOMapPar__t.html">CO_TPDOMapPar_t</a> *TPDOMapPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_TPDOCommPar, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> idx_TPDOMapPar, <a class="el" href="structCO__CANmodule__t.html">CO_CANmodule_t</a> *CANdevTx, <a class="el" href="group__CO__dataTypes.html#ga1f1825b69244eb3ad2c7165ddc99c956">uint16_t</a> CANdevTxIdx)</td></tr>
<tr class="memdesc:ga8fb100744dc91f84b236c55ee37200a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initialize TPDO object.  <a href="group__CO__PDO.html#ga8fb100744dc91f84b236c55ee37200a1">More...</a><br /></td></tr>
<tr class="separator:ga8fb100744dc91f84b236c55ee37200a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gafec3eb12b93146a3706cbf03d3770a8d"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__dataTypes.html#gaba7bc1797add20fe3efdf37ced1182c5">uint8_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#gafec3eb12b93146a3706cbf03d3770a8d">CO_TPDOisCOS</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO)</td></tr>
<tr class="memdesc:gafec3eb12b93146a3706cbf03d3770a8d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Verify Change of State of the PDO.  <a href="group__CO__PDO.html#gafec3eb12b93146a3706cbf03d3770a8d">More...</a><br /></td></tr>
<tr class="separator:gafec3eb12b93146a3706cbf03d3770a8d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CO__driver.html#ga1cb2d3466eb0c6d267f3b5ff1a0d9532">CO_ReturnError_t</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga9b2c8692f74f6a6a389ef88bf9c682a5">CO_TPDOsend</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO)</td></tr>
<tr class="memdesc:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Send TPDO message.  <a href="group__CO__PDO.html#ga9b2c8692f74f6a6a389ef88bf9c682a5">More...</a><br /></td></tr>
<tr class="separator:ga9b2c8692f74f6a6a389ef88bf9c682a5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66">CO_RPDO_process</a> (<a class="el" href="structCO__RPDO__t.html">CO_RPDO_t</a> *RPDO, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> syncWas)</td></tr>
<tr class="memdesc:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process received PDO messages.  <a href="group__CO__PDO.html#gad77bfd4c7f64e75e7ddee5c926477e66">More...</a><br /></td></tr>
<tr class="separator:gad77bfd4c7f64e75e7ddee5c926477e66"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b">CO_TPDO_process</a> (<a class="el" href="structCO__TPDO__t.html">CO_TPDO_t</a> *TPDO, <a class="el" href="group__CO__dataTypes.html#ga449976458a084f880dc8e3d29e7eb6f5">bool_t</a> syncWas, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> timeDifference_us, <a class="el" href="group__CO__dataTypes.html#ga33594304e786b158f3fb30289278f5af">uint32_t</a> *timerNext_us)</td></tr>
<tr class="memdesc:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Process transmitting PDO messages.  <a href="group__CO__PDO.html#ga0bb0d1b09d37ca19e01d47d8d0004f6b">More...</a><br /></td></tr>
<tr class="separator:ga0bb0d1b09d37ca19e01d47d8d0004f6b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>CANopen Process Data Object protocol. </p>
<dl class="section author"><dt>Author</dt><dd>Janez Paternoster </dd></dl>
<dl class="section copyright"><dt>Copyright</dt><dd>2004 - 2020 Janez Paternoster</dd></dl>
<p>This file is part of CANopenNode, an opensource CANopen Stack. Project home page is <a href="https://github.com/CANopenNode/CANopenNode">https://github.com/CANopenNode/CANopenNode</a>. For more information on CANopen see <a href="http://www.can-cia.org/">http://www.can-cia.org/</a>.</p>
<p>Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at </p><pre class="fragment">http://www.apache.org/licenses/LICENSE-2.0
</pre><p>Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. </p>
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